BMX055 9-axis sensor

Device driver for the Bosch BMX055 9-axis sensor. More...

Detailed Description

Device driver for the Bosch BMX055 9-axis sensor.

This driver provides [S]ensor [A]ctuator [U]ber [L]ayer capabilities.

Modules
	BMX055 sensor driver compile configuration

Files
file	bmx055_internal.h
	Definitions for the bmx055 device.
file	bmx055_params.h
	Default configuration for bmx055 devices.
file	bmx055.h
	Device driver interface for the Bosch BMX055 9-axis sensor.

Data Structures
struct	bmx055_params_t
	Data structure holding the device parameters needed for initialization. More...
struct	bmx055_t
	Device descriptor for BMX055 sensors. More...

Enumerations
enum	{   BMX055_OK = 0, BMX055_NOBUS = -1, BMX055_NODEV = -2, BMX055_NOREAD = -3,   BMX055_NOWRITE = -4, BMX055_NOTREADY = -5 }
	Status and error return codes. More...
enum	bmx055_mag_rate_t {   BMX055_MAG_DRATE_DEFAULT = 0x0, BMX055_MAG_DRATE_02HZ = 0x1, BMX055_MAG_DRATE_06HZ = 0x2, BMX055_MAG_DRATE_08HZ = 0x3,   BMX055_MAG_DRATE_15HZ = 0x4, BMX055_MAG_DRATE_20HZ = 0x5, BMX055_MAG_DRATE_25HZ = 0x6, BMX055_MAG_DRATE_30HZ = 0x7 }
	Datarate for Magnetometer. More...
enum	bmx055_acc_range_t { BMX055_ACC_RANGE_2G = 0x0, BMX055_ACC_RANGE_4G = 0x1, BMX055_ACC_RANGE_8G = 0x2, BMX055_ACC_RANGE_16G = 0x3 }
	Range for Accelerometer. More...
enum	bmx055_gyro_scale_t {   BMX055_GYRO_SCALE_2000DPS = 0x0, BMX055_GYRO_SCALE_1000DPS = 0x1, BMX055_GYRO_SCALE_0500DPS = 0x2, BMX055_GYRO_SCALE_0250DPS = 0x3,   BMX055_GYRO_SCALE_0125DPS = 0x4 }
	Measurement scale for the gyro. More...

Functions
int	bmx055_init (bmx055_t *dev, const bmx055_params_t *params)
	Initialize modules magnetometer, accelerometer, gyroscope. More...
int	bmx055_mag_read (const bmx055_t *dev, int16_t *data)
	Read magnetic field value in Gauss per second from magnetometer. More...
int	bmx055_acc_read (const bmx055_t *dev, int16_t *data)
	Read acceleration value in g from accelerometer. More...
int	bmx055_gyro_read (const bmx055_t *dev, int16_t *data)
	Read angular speed value in degree per second from gyroscope. More...

Enumeration Type Documentation

anonymous enum

anonymous enum

Status and error return codes.

Enumerator
BMX055_OK	exit without error
BMX055_NOBUS	cannot connect to module on i2c bus
BMX055_NODEV	cannot read any data from module
BMX055_NOREAD	cannot read data from module
BMX055_NOWRITE	cannot write data to module
BMX055_NOTREADY	no new data ready for reading

Definition at line 80 of file bmx055.h.

bmx055_acc_range_t

enum bmx055_acc_range_t

Range for Accelerometer.

Enumerator
BMX055_ACC_RANGE_2G	range: 2g
BMX055_ACC_RANGE_4G	range: 4g
BMX055_ACC_RANGE_8G	range: 8g
BMX055_ACC_RANGE_16G	range: 16g

Definition at line 106 of file bmx055.h.

bmx055_gyro_scale_t

enum bmx055_gyro_scale_t

Measurement scale for the gyro.

Enumerator
BMX055_GYRO_SCALE_2000DPS	scale: 2000 degree per second
BMX055_GYRO_SCALE_1000DPS	scale: 1000 degree per second
BMX055_GYRO_SCALE_0500DPS	scale: 500 degree per second
BMX055_GYRO_SCALE_0250DPS	scale: 250 degree per second
BMX055_GYRO_SCALE_0125DPS	scale: 125 degree per second

Definition at line 116 of file bmx055.h.

bmx055_mag_rate_t

enum bmx055_mag_rate_t

Datarate for Magnetometer.

Enumerator
BMX055_MAG_DRATE_DEFAULT	output data rate: 10 Hz
BMX055_MAG_DRATE_02HZ	output data rate: 2 Hz
BMX055_MAG_DRATE_06HZ	output data rate: 6 Hz
BMX055_MAG_DRATE_08HZ	output data rate: 8 Hz
BMX055_MAG_DRATE_15HZ	output data rate: 15 Hz
BMX055_MAG_DRATE_20HZ	output data rate: 20 Hz
BMX055_MAG_DRATE_25HZ	output data rate: 25 Hz
BMX055_MAG_DRATE_30HZ	output data rate: 30 Hz

Definition at line 92 of file bmx055.h.

Function Documentation

bmx055_acc_read()

int bmx055_acc_read	(	const bmx055_t *	dev,
		int16_t *	data
	)

Read acceleration value in g from accelerometer.

Parameters

[in]	dev	device descriptor of accelerometer
[out]	data	result vector in g per axis

Returns

BMX055_OK on success

BMX055_NOREAD if reading acc data is not possible

BMX055_NOTRDY if no new data is available

bmx055_gyro_read()

int bmx055_gyro_read	(	const bmx055_t *	dev,
		int16_t *	data
	)

Read angular speed value in degree per second from gyroscope.

Note

The data of steady axis deviate from the expected values while moving the sensor in one of the other axis. Hence reading data for all axis at once may not always give the expected results.

Parameters

[in]	dev	device descriptor of gyroscope
[out]	data	result vector in dps per axis

Returns

BMX055_OK on success

BMX055_NOREAD if reading gyro data is not possible

bmx055_init()

int bmx055_init	(	bmx055_t *	dev,
		const bmx055_params_t *	params
	)

Initialize modules magnetometer, accelerometer, gyroscope.

Parameters

[out]	dev	device descriptor of sensor to initialize
[in]	params	default parameter values

Returns

BMX055_OK on success

BMX055_NOBUS if i2C connection can not be establish

BMX055_NODEV if the register of a module can not be read

BMX055_NOWRITE if a register can not be written

bmx055_mag_read()

int bmx055_mag_read	(	const bmx055_t *	dev,
		int16_t *	data
	)

Read magnetic field value in Gauss per second from magnetometer.

Parameters

[in]	dev	device descriptor of magnetometer
[out]	data	result vector in Gs per axis

Returns

BMX055_OK on success

BMX055_NOREAD if reading mag data is not possible

BMX055_NOTRDY if no new data is available